Diff: callbacks.cpp

Revision:

16:fd6771a6685a

Parent:

15:c10d0aa3c0e1

Child:

21:da41c08e51bc

--- a/callbacks.cpp	Mon Mar 09 02:40:36 2015 +0000
+++ b/callbacks.cpp	Mon Mar 09 03:05:23 2015 +0000
@@ -6,17 +6,13 @@
 #include "meta.h"
 #include "sensors.h"
 
-#define dbg_d_filtered debug_registers[0]
-#define dbg_q_filtered debug_registers[1]
-#define dbg_angle debug_registers[3]
-
 void fast(Context *c) {
     float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
     float I_b, I_c, angle;
     I_b = c->motor->GetCurrentB();
     I_c = c->motor->GetCurrentC();
     angle = c->motor->GetPosition();
-    c->dbg_angle = angle;
+    dbg_angle = angle;
     
     Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
     Parke(alpha, beta, angle, &d, &q);
@@ -24,8 +20,8 @@
     float d_filtered = c->filter_d->Update(d);
     float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal
     
-    c->dbg_d_filtered = d_filtered;
-    c->dbg_q_filtered = q_filtered;
+    dbg_d_filtered = d_filtered;
+    dbg_q_filtered = q_filtered;
 
     c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
     
@@ -45,5 +41,5 @@
 }
 
 void debug(Context *c) {
-    serial->printf("%f \n\r", c->dbg_angle);
+    c->serial->printf("%f \n\r", dbg_angle);
 }
\ No newline at end of file